VGGT-SLAM++
We introduce VGGT-SLAM++, a complete visual SLAM system that leverages the geometry-rich outputs of the Visual Geometry Grounded Transformer (VGGT). The system comprises a visual odometry (front-end) fusing the VGGT feed-forward transformer and a Sim(3) solution, a Digital Elevation Map (DEM)-based graph construction module, and a back-end that jointly enable accurate large-scale mapping with bounded memory. While prior transformer-based SLAM pipelines such as VGGT-SLAM rely primarily on sparse loop closures or global Sim(3) manifold constraints - allowing short-horizon pose drift - VGGT-SLAM++ restores high-cadence local bundle adjustment (LBA) through a spatially corrective back-end. Fo...
| Authors | Avilasha Mandal, Rajesh Kumar, Sudarshan Sunil Harithas et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 April 2026 |
| Last updated at source | 8 April 2026 |
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